The main class of the whole robot programm. More...

#include <direcs.h>

Collaboration diagram for Direcs:

Public Slots
void	drive (const int command)
void	enableFaceTracking (int state)
void	enableRemoteControlListening (bool status)
void	executeJoystickCommand (int axisNumber, int axisValue)
void	executeJoystickCommand (int buttonNumber, bool buttonState)
void	executeRemoteCommand (QString command)
void	faceTracking (int faces, int faceX, int faceY, int faceRadius)
void	finishSplash ()
void	increaseDrivingSpeed (void)
void	logicalUnit (int sensorAlarm, QDateTime timestamp)
void	mediaPlayerFinished ()
void	nextDemoPhase (int phase)
void	setDemoMode (bool status)
void	setNetworkState ()
void	setSimulationMode (bool status)
void	showExitDialog ()
void	showSensorData ()
void	showSplashMessage (QString text)
void	shutdown ()
void	systemerrorcatcher (int errorlevel)
void	test ()

Signals
void	initCircuit ()
void	look (QString direction)
void	message (QString text, bool CR=true, bool sayIt=false, bool addTimestamp=true)
void	publishConsoleMode (bool state)
void	sendNetworkString (QString text)
void	showFaceTrackDirection (QString direction)
void	showPreferredDirection (QString direction)
void	speak (QString text, int phase=0)
void	splashMessage (QString text)

Public Member Functions
	Direcs (bool bConsoleMode, bool bForceSmallGUI, bool bForceLargeGUI)
void	init ()
bool	simulationMode () const
	~Direcs ()

Public Attributes
bool	exitDialog
bool	noHardwareErrorMessages

Private Member Functions
void	checkArguments ()
void	drivingLight (unsigned char color)
void	readSettings ()
void	resetDrivingSpeedTimer (void)

Private Attributes
AboutDialog *	aboutDialog
	The joystick dialog.
QStringList	arguments
	The splash screen text color.
bool	cameraTestMode
CamThread *	camThread
Circuit *	circuit1
	contains the list of command-line arguments
QString	commaSeparator
ConsoleGui *	consoleGui
bool	consoleMode
int	currentPreferredDirection
	is enabled, when the robot is controlled via joystick and should use special mecanum wheel driving
int	currentTestServo
bool	demoMode
	A Phonon media player for e.g. playing a mp3 file.
DemoThread *	demoThread
QTimer *	drivingSpeedTimer
bool	endSpeedMotor1Reached
bool	endSpeedMotor2Reached
bool	endSpeedMotor3Reached
bool	endSpeedMotor4Reached
bool	eyeTestMode
bool	faceTrackingIsEnabled
bool	firstDataReceived
	Indicates if this program is the master and sends data from the robot over the network.
float	floatValue
bool	forceLargeGUI
	is enabled if the argument 'small' was passed by command-line. This will result in a startup with the small GUI - regardless of the hostname.
bool	forceShutdown
bool	forceSmallGUI
	is enabled if the argument 'console' was passed by command-line. Sends all GUI messages to the command line.
Gui *	gui
Head *	head
bool	iAmTheMaster
	Stores the state, if the remote mode is enabled (control via LAN or joystick es enabled.
Inifile *	inifile1
InterfaceAvr *	interface1
Joystick *	joystick
JoystickDialog *	joystickDialog
	The settings dialog.
int	laserscannerAngleFront
int	laserscannerAngleRear
bool	laserScannerFrontFound
	if a camera is connected, but should not be used (just for testing, for a faster program start)
int	laserscannerIgnoreAreaEnd
int	laserscannerIgnoreAreaStart
QString	laserscannerMounting
bool	laserScannerRearFound
QString	laserscannerTypeFront
QString	laserscannerTypeRear
LaserThread *	laserThread
Logfile *	logfile
int	maximumSpeed
bool	mecanumDriveMode
	is enabled, when the robot is controlled via joystick
Phonon::MediaObject *	mediaObject
	A list of obstacle alarms that occured right the last n times.
int	minimumSpeed
int	mot1Speed
int	mot2Speed
int	mot3Speed
int	mot4Speed
Motor *	motors
QMutex *	mutex
NetworkThread *	netThread
unsigned int	networkPortListen
	Indicates that network data were received already and we do not check if we are master or slave.
unsigned int	networkPortSend
QList< QDateTime >	obstacleAlarmFrontLeftList
	if true, we will use a small GUI for fitting on a small onboard TFT. By default this is decided by the local hostname of the system.
QList< QDateTime >	obstacleAlarmFrontRightList
	A list of obstacle alarms that occured left the last n times.
ObstacleCheckThread *	obstCheckThread
PlotThread *	plotThread
	The about dialog.
int	preferredDrivingDirection
RgbLed *	rgbLeds
bool	robotDrives
bool	robotRemoteMode
	Stores the robots simulation state.
bool	robotSimulationMode
	Stores the robots driving state. TRUE, when the robot drives.
SensorThread *	sensorThread
QString	serialPortLaserscannerFront
QString	serialPortLaserscannerRear
QString	serialPortMicrocontroller
Servo *	servos
bool	servoTestMode
SettingsDialog *	settingsDialog
bool	shutdownAlreadyCalled
	is enabled if the argument 'large' was passed by command-line. This will result in a startup with the large GUI - regardless of the hostname.
SpeakThread *	speakThread
QSplashScreen *	splash
QColor	splashTextColor
bool	testDriveMode
TimerThread *	timerThread
bool	useCamera
	if true, a logfile is written of all pgm messages (see ini-file)
bool	useSmallGUI
	this is set to true, when no ini-file was found at startup. This make the program leave without the stupid AreYouSure-Question.
unsigned int	value
bool	writeLogFile

Static Private Attributes
static const int	ALLMOTORS = 250
	Motor 4 back right.
static const int	AREA1 = 1
static const int	AREA2 = 2
static const int	BACKWARD = 20
	Motor direction (formerly "clockwise")
static const unsigned char	BLUE = 3
static const unsigned int	DRIVINGSPEEDINCREASER = 10
	The time between one de/increase of the motor speed (to its minimum/maximum) and the next in ms.
static const int	FORWARD = 10
	Some driving directions and motor directions for the robot.
static const unsigned char	GREEN = 2
static const int	JOYSTICKAXISX3 = 3
static const int	JOYSTICKAXISX4 = 4
static const int	JOYSTICKAXISY2 = 2
	this is analog to the value in microcontroller software
static const int	JOYSTICKAXISY5 = 5
static const int	JOYSTICKDIVISOR = 128
	Joystick conversion divisor. Converts the joystick axis value to the robot speed.
static const short int	LASER1 = 1
static const short int	LASER2 = 2
static const short int	LASER3 = 4
static const short int	LASER4 = 8
static const short int	LASER5 = 16
static const unsigned char	LEDOFF = 0
static const int	LEFT = 30
	Motor direction (formerly "counterclockwise".
static const short int	MAXFALSEALARMS = 2
static const int	MAXPWM = 99
	this is analog to the value in microcontroller software
static const float	MINIMUMVOLTAGE1 = 10.80
	The minimum voltages for an acoustic and optical alarm.
static const float	MINIMUMVOLTAGE2 = 21.60
static const int	MINPWM = 1
static const int	MOTOR1 = 210
	Motor direction/power "same like before".
static const int	MOTOR1BW = 310
static const int	MOTOR1FW = 300
	used for letting the robot getting only one command for all motors (like 'forward all'). This is to reduce commands on the serial line.
static const int	MOTOR1OFF = 320
static const int	MOTOR2 = 220
	Motor 1 front left.
static const int	MOTOR2BW = 340
static const int	MOTOR2FW = 330
static const int	MOTOR2OFF = 350
static const int	MOTOR3 = 230
	Motor 2 front right.
static const int	MOTOR3BW = 370
static const int	MOTOR3FW = 360
static const int	MOTOR3OFF = 380
static const int	MOTOR4 = 240
	Motor 3 back left.
static const int	MOTOR4BW = 400
static const int	MOTOR4FW = 390
static const int	MOTOR4OFF = 410
static const short int	MOTORSENSOR1 = 0
	number of false alarms which are allowed in the logical unit
static const short int	MOTORSENSOR2 = 1
static const short int	NONE = 0
	Value, if no sensor has a value to react.
static const unsigned char	NUMBEROFRGBLEDS = 6
	the RGB LED numbers
static const unsigned char	NUMBEROFSERVOS = 6
static const short int	OBSTACLEFRONTLEFT = 512
static const short int	OBSTACLEFRONTRIGHT = 1024
static const short int	OBSTACLESEVERYWHEREINFRONT = 2048
static const bool	OFF = false
static const bool	ON = true
static const int	READ_AXIS_X = 500
static const int	READ_AXIS_Y = 510
static const int	READ_AXIS_Z = 520
static const unsigned char	RED = 1
static const unsigned char	RGBLED1 = 0
static const unsigned char	RGBLED2 = 1
static const unsigned char	RGBLED3 = 2
static const unsigned char	RGBLED4 = 3
static const unsigned char	RGBLED5 = 4
static const unsigned char	RGBLED6 = 5
static const unsigned char	RGBLEDACTUAL = 1
static const unsigned char	RGBLEDDEFAULT = 0
	the possible rgbLed data
static const unsigned char	RGBLEDMAX = 3
static const unsigned char	RGBLEDMIN = 2
static const int	RIGHT = 40
static const int	SAME = 200
static const short int	SENSOR1 = 1
static const short int	SENSOR16 = 256
static const short int	SENSOR2 = 2
static const short int	SENSOR3 = 4
static const short int	SENSOR4 = 8
static const short int	SENSOR5 = 16
static const short int	SENSOR6 = 32
static const short int	SENSOR7 = 64
static const short int	SENSOR8 = 128
static const unsigned char	SERVO1 = 0
	the servo numbers
static const unsigned char	SERVO2 = 1
static const unsigned char	SERVO3 = 2
static const unsigned char	SERVO4 = 3
static const unsigned char	SERVO5 = 4
static const unsigned char	SERVO6 = 5
static const unsigned int	SPLASHTIME = 2000
	The splash screen time of view in ms.
static const int	START = 70
static const int	STOP = 80
static const unsigned char	SVCURRENT = 3
static const unsigned char	SVDEFAULT = 2
static const unsigned char	SVEND = 1
static const unsigned char	SVMAX = 5
static const unsigned char	SVMIN = 4
static const unsigned char	SVSTART = 0
	the possible servo data
static const int	TURNLEFT = 50
static const int	TURNRIGHT = 60
static const short int	VOLTAGESENSOR1 = 0
	The voltage sensors.
static const short int	VOLTAGESENSOR2 = 1
static const int	WAIT = 90
static const unsigned char	WHITE = 4

Detailed Description

The main class of the whole robot programm.

Author:: Markus Knapp All objects are created here. This method also starts the GUI and its splash screen.

Definition at line 108 of file direcs.h.

Constructor & Destructor Documentation

Direcs::Direcs	(	bool	bConsoleMode,
		bool	bForceSmallGUI,
		bool	bForceLargeGUI
	)

The parameters are given from a main method which gets them from the console (startup arguments).

Todo:: install an event filter to grab CTRL+C

   \xrefitem todo 2.

Definition at line 114 of file direcs.cpp.

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Direcs::~Direcs ( )

Definition at line 1901 of file direcs.cpp.

Member Function Documentation

void Direcs::checkArguments ( )

private

Checks the command-line arguments passed to the program.

Definition at line 5147 of file direcs.cpp.

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void Direcs::drive ( const int command )

slot

Instructs the robot to drive FORWARD, BACKWARD, LEFT, RIGHT, TURNLEFT and TURNRIGHT. The commands START, STOP or WAIT are also possible.

Parameters:

command

Definition at line 2466 of file direcs.cpp.

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void Direcs::drivingLight ( unsigned char color )

private

Turns the driving light to RED, GREEN, BLUE, WHITE or LEDOFF.

Parameters:

color

Todo:: Move the drivingLight method to a better file/place.

Definition at line 5303 of file direcs.cpp.

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void Direcs::enableFaceTracking ( int state )

slot

Enables or disables the face tracking. When activated, a face will be tracked by the camera.

Parameters:

state has to be Qt::Checked to enable the detection. All other states disable.

Definition at line 2214 of file direcs.cpp.

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void Direcs::enableRemoteControlListening ( bool state )

slot

Enables or disables the listening for the robot remote control. This slot is called from an event from the GUI (enable remote button).

Parameters:

status

Todo:: check if we still need the enableRemoteControlListening method

Definition at line 4144 of file direcs.cpp.

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void Direcs::executeJoystickCommand	(	int	axisNumber,
		int	axisValue
	)

slot

This slot executes commands from a connected joystick.

Todo:: check if this makes sense...

Todo:: check if this makes sense...

Todo:: check if this makes sense...

Todo:: check if this makes sense...

Todo:: check if this makes sense...

Todo:: check if this makes sense...

Todo:: check if this makes sense...

Todo:: check if this makes sense...

Definition at line 4373 of file direcs.cpp.

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void Direcs::executeJoystickCommand	(	int	buttonNumber,
		bool	buttonState
	)

slot

See also:: Gui::showJoystickButtons

Todo:: put button numbers to ini-file

Definition at line 4936 of file direcs.cpp.

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void Direcs::executeRemoteCommand ( QString command )

slot

This slot executes remote commands it receives via network (e.g. WLAN).

Todo:: add *master# string to ini-file

Definition at line 4208 of file direcs.cpp.

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void Direcs::faceTracking	(	int	faces,
		int	faceX,
		int	faceY,
		int	faceRadius
	)

slot

This method moves the camera and/or the robots eyes in the direction of a detected face.

See also:: camThread::faceDetected()

Definition at line 2227 of file direcs.cpp.

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void Direcs::finishSplash ( )

slot

Finishes the splash screen and displays the main window.

Definition at line 2014 of file direcs.cpp.

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void Direcs::increaseDrivingSpeed ( void )

slot

Increases the driving speed to its maximum speed. This is used to have a smooth driveaway of the robot and works together with a timer.

increase interval is 10%.

Todo:: start with which minimumSpeed?

Definition at line 2865 of file direcs.cpp.

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void Direcs::init ( )

Initalises the complete program and robot. Conntect all signals and slots.

Todo:: put this at a nicer place // this is also shown in the about dialog

Todo:: not in use anymore! connect(this, SIGNAL(publishConsoleMode(bool)), gui, SLOT(setConsoleMode(bool)));

Todo:: implement signal forwarding for second laser!

Todo:: check if this is okay for the logfile writer in case of error TO FAST for logfile!!!

Todo:: start heartbeat thread and see, whats going on there! Also to do: define atmel code for an "heartbeat answer / action" !!!!!

           connect(camThread, SIGNAL( disableFaceDetection() ), gui, SLOT( disableFaceDetection() )); \xrefitem todo 8.

            connect(camThread, SIGNAL( disableCamera() ), gui, SLOT( disableCamera() )); \xrefitem todo 9.

Todo:: the signal for setting the camera angle

Todo:: the signal for resetting the camera angle

Todo:: nice exit point and error message

Todo:: put media filename or list somewehre else

Definition at line 225 of file direcs.cpp.

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void Direcs::initCircuit ( )

signal

Initialize the robots basic circuit.

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void Direcs::logicalUnit	(	int	sensorAlarm,
		QDateTime	timestamp
	)

slot

The locialUnit handles the behavior of the robot. This slot is called if an obstacle is detected from the obstacleCheckThread. It lets the robot "react" depending on which sensor made the alarm. The number of alarms are also counted. The class member preferredDrivingDirection is also set here and will be used when the robot gets the

See also:: drive() command START.

Parameters:

sensorAlarm	consists of the sum of all infrared and ultrasonic sensor numbers, which had an alarm or if we use a laser scanner, a value like OBSTACLEFRONTLEFT.
timestamp	is the timestmap when the signal was emitted.

Definition at line 2023 of file direcs.cpp.

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void Direcs::look ( QString direction )

signal

This is for the robots head.

Parameters:

direction where to look can be LEFT, RIGHT...

void Direcs::mediaPlayerFinished ( )

slot

Restarts the mediaplayer because this Slot recevied the 'finished' Signal from the mediaplayer

same file again

Todo:: put media filename or list somewehre else

Definition at line 5244 of file direcs.cpp.

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void Direcs::message	(	QString	text,
		bool	CR = `true`,
		bool	sayIt = `false`,
		bool	addTimestamp = `true`
	)

signal

Emits a string to the GUI log / console.

See also:: Gui::appendLog()

Parameters:

text	is the message to be emitted
CR	is true when a CR/LF should be added at the end of the line (default)
sayIt	is true when the text for the log also should be spoken (default=false)
addTimestamp	If true, the a timestamp is added in front of the text. This parameter is optional.

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void Direcs::nextDemoPhase ( int phase )

slot

Enters the next demo phase and says some more text, drives around or whatever.

Definition at line 5158 of file direcs.cpp.

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void Direcs::publishConsoleMode ( bool state )

signal

Let the other classes know if we are in the console mode (activated via command-line argument)

See also:: Gui::setConsoleMode()

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void Direcs::readSettings ( )

private

Reads all settings for the robot from an ini-file.

Todo:: add this: consoleGui->setLaserscannerAngle(LASER1, laserscanner...Front);

Todo:: gui->setLaserscannerAngle(LASER1, laserscanner...Front);

Todo:: add this: consoleGui->setLaserscannerAngle(LASER1, laserscanner...Front);

Todo:: gui->setLaserscannerAngle(LASER1, laserscanner...Front);

Todo:: add this: consoleGui->setLaserscannerAngle(LASER2, laserscanner...Rear);

Todo:: gui->setLaserscannerAngle(LASER1, laserscanner...Rear);

Todo:: add this: consoleGui->setLaserscannerAngle(LASER2, laserscanner...Rear);

Todo:: gui->setLaserscannerAngle(LASER1, laserscanner...Rear);

camThread->setCameraDevice(-2);

Todo:: kinect stuff

camThread->setCameraDevice(-2);

Todo:: kinect stuff

                                   camThread->setCameraDevice(cameraDevice); \xrefitem todo 28.

camThread->setCascadePath("none");

Todo:: kinect stuff

camThread->setCascadePath("none");

Todo:: kinect stuff

camThread->setCascadePath(haarClassifierCascade);

Todo:: kinect stuff

Todo:: kinect stuff

Definition at line 2932 of file direcs.cpp.

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void Direcs::resetDrivingSpeedTimer ( void )

private

Resets the driving speed timer, so at the next drive command, the robots start with a smooth drive - not with maximum speed.

See also:: drive(); increaseDrivingSpeed()

Definition at line 2856 of file direcs.cpp.

void Direcs::sendNetworkString ( QString text )

signal

Sends a string over the network.

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void Direcs::setDemoMode ( bool status )

slot

This slot enables or disables the demo mode.

Parameters:

status

Definition at line 5205 of file direcs.cpp.

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void Direcs::setNetworkState ( )

slot

Sets the network state of this program. If it receives / received a 'master' strin form another direcs program, running on a robot, it sets this program to slave mode. Otherwise we will run in (normal) master mode.

Definition at line 4185 of file direcs.cpp.

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void Direcs::setSimulationMode ( bool status )

slot

This slot enables or disables the simulation mode.

Parameters:

status

Definition at line 5082 of file direcs.cpp.

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void Direcs::showExitDialog ( )

slot

Shows the yes-no exit dialog for the main program. This slot is called when massive communication errors occur while talking to the robots interface!

Definition at line 1954 of file direcs.cpp.

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void Direcs::showFaceTrackDirection ( QString direction )

signal

Shows the face tracking direction in a lable.

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void Direcs::showPreferredDirection ( QString direction )

signal

Shows the preferred driving direction of the robot in the GUI

See also:: logicalUnit()

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void Direcs::showSensorData ( )

slot

Shows the sensor data in a graphical way (progressBars) and as a number in the GUI. This slot is called from the Signal sensorDataComplete from the sensorThread.

Definition at line 2380 of file direcs.cpp.

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void Direcs::showSplashMessage ( QString text )

slot

Shows a text on the current splash screen.

Definition at line 1978 of file direcs.cpp.

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void Direcs::shutdown ( )

slot

Ends the programm, after asking "really?". Calls the destructor of this class, after saving settings and some other exit stuff.

Todo:: ask for exit on console!

Todo:: a universal quit-threads-method

Todo:: what, if the robote serial communication hangs here? timeout check?

Definition at line 1282 of file direcs.cpp.

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bool Direcs::simulationMode ( ) const

Returns the status of the main program. True, if the simulationMode ist active.

Definition at line 5076 of file direcs.cpp.

void Direcs::speak	(	QString	text,
		int	phase = `0`
	)

signal

Emits a speak signal. This signal is sent to the speakThread.

Parameters:

phase is an optional value. This could be a special phase which could be returned when the speech ends or so.

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void Direcs::splashMessage ( QString text )

signal

Emits a string to the splash screen.

Parameters:

text	is the message to be emitted

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void Direcs::systemerrorcatcher ( int errorlevel )

slot

This slot catches all signals from the signal

See also:: systemerror

Todo:: why stopping plot thread here?

Definition at line 5268 of file direcs.cpp.

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void Direcs::test ( )

slot

The method for the test button in the GUI.

Definition at line 5354 of file direcs.cpp.

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Member Data Documentation

AboutDialog* Direcs::aboutDialog

private

The joystick dialog.

Definition at line 360 of file direcs.h.

const int Direcs::ALLMOTORS = 250

staticprivate

Motor 4 back right.

Definition at line 477 of file direcs.h.

const int Direcs::AREA1 = 1

staticprivate

For the obstacleCheckThread

Definition at line 590 of file direcs.h.

const int Direcs::AREA2 = 2

staticprivate

Definition at line 591 of file direcs.h.

QStringList Direcs::arguments

private

The splash screen text color.

Definition at line 370 of file direcs.h.

const int Direcs::BACKWARD = 20

staticprivate

Motor direction (formerly "clockwise")

Definition at line 459 of file direcs.h.

const unsigned char Direcs::BLUE = 3

staticprivate

Definition at line 599 of file direcs.h.

bool Direcs::cameraTestMode

private

Definition at line 421 of file direcs.h.

CamThread* Direcs::camThread

private

Definition at line 383 of file direcs.h.

Circuit* Direcs::circuit1

private

contains the list of command-line arguments

Definition at line 372 of file direcs.h.

QString Direcs::commaSeparator

private

Definition at line 400 of file direcs.h.

ConsoleGui* Direcs::consoleGui

private

Definition at line 356 of file direcs.h.

bool Direcs::consoleMode

private

Definition at line 435 of file direcs.h.

int Direcs::currentPreferredDirection

private

is enabled, when the robot is controlled via joystick and should use special mecanum wheel driving

Definition at line 417 of file direcs.h.

int Direcs::currentTestServo

private

Definition at line 420 of file direcs.h.

bool Direcs::demoMode

private

A Phonon media player for e.g. playing a mp3 file.

Definition at line 446 of file direcs.h.

DemoThread* Direcs::demoThread

private

Definition at line 389 of file direcs.h.

const unsigned int Direcs::DRIVINGSPEEDINCREASER = 10

staticprivate

The time between one de/increase of the motor speed (to its minimum/maximum) and the next in ms.

Definition at line 452 of file direcs.h.

QTimer* Direcs::drivingSpeedTimer

private

Definition at line 401 of file direcs.h.

bool Direcs::endSpeedMotor1Reached

private

Definition at line 429 of file direcs.h.

bool Direcs::endSpeedMotor2Reached

private

Definition at line 430 of file direcs.h.

bool Direcs::endSpeedMotor3Reached

private

Definition at line 431 of file direcs.h.

bool Direcs::endSpeedMotor4Reached

private

Definition at line 432 of file direcs.h.

bool Direcs::exitDialog

Configures if an exit dialog should be shown, when exiting the main program.

Definition at line 139 of file direcs.h.

bool Direcs::eyeTestMode

private

Definition at line 419 of file direcs.h.

bool Direcs::faceTrackingIsEnabled

private

Definition at line 422 of file direcs.h.

bool Direcs::firstDataReceived

private

Indicates if this program is the master and sends data from the robot over the network.

Definition at line 408 of file direcs.h.

float Direcs::floatValue

private

Definition at line 434 of file direcs.h.

bool Direcs::forceLargeGUI

private

is enabled if the argument 'small' was passed by command-line. This will result in a startup with the small GUI - regardless of the hostname.

Definition at line 437 of file direcs.h.

bool Direcs::forceShutdown

private

Definition at line 439 of file direcs.h.

bool Direcs::forceSmallGUI

private

is enabled if the argument 'console' was passed by command-line. Sends all GUI messages to the command line.

Definition at line 436 of file direcs.h.

const int Direcs::FORWARD = 10

staticprivate

Some driving directions and motor directions for the robot.

For motor or robot "OFF"

See also:: Direcs::drive() [Slot]

Definition at line 458 of file direcs.h.

const unsigned char Direcs::GREEN = 2

staticprivate

Definition at line 598 of file direcs.h.

Gui* Direcs::gui

private

Definition at line 355 of file direcs.h.

Head* Direcs::head

private

Definition at line 386 of file direcs.h.

bool Direcs::iAmTheMaster

private

Stores the state, if the remote mode is enabled (control via LAN or joystick es enabled.

Definition at line 407 of file direcs.h.

Inifile* Direcs::inifile1

private

Definition at line 380 of file direcs.h.

InterfaceAvr* Direcs::interface1

private

Definition at line 373 of file direcs.h.

Joystick* Direcs::joystick

private

Definition at line 385 of file direcs.h.

const int Direcs::JOYSTICKAXISX3 = 3

staticprivate

Definition at line 572 of file direcs.h.

const int Direcs::JOYSTICKAXISX4 = 4

staticprivate

Definition at line 573 of file direcs.h.

const int Direcs::JOYSTICKAXISY2 = 2

staticprivate

this is analog to the value in microcontroller software

See also:: direcsSTM

Todo:: put axis numbers to ini-file Joystick axis numbers

See also:: Joystick()

Definition at line 571 of file direcs.h.

const int Direcs::JOYSTICKAXISY5 = 5

staticprivate

Definition at line 574 of file direcs.h.

JoystickDialog* Direcs::joystickDialog

private

The settings dialog.

Definition at line 359 of file direcs.h.

const int Direcs::JOYSTICKDIVISOR = 128

staticprivate

Joystick conversion divisor. Converts the joystick axis value to the robot speed.

Definition at line 576 of file direcs.h.

const short int Direcs::LASER1 = 1

staticprivate

For the laserThread

Definition at line 581 of file direcs.h.

const short int Direcs::LASER2 = 2

staticprivate

Definition at line 582 of file direcs.h.

const short int Direcs::LASER3 = 4

staticprivate

Definition at line 583 of file direcs.h.

const short int Direcs::LASER4 = 8

staticprivate

Definition at line 584 of file direcs.h.

const short int Direcs::LASER5 = 16

staticprivate

Definition at line 585 of file direcs.h.

int Direcs::laserscannerAngleFront

private

Definition at line 395 of file direcs.h.

int Direcs::laserscannerAngleRear

private

Definition at line 396 of file direcs.h.

bool Direcs::laserScannerFrontFound

private

if a camera is connected, but should not be used (just for testing, for a faster program start)

Definition at line 413 of file direcs.h.

int Direcs::laserscannerIgnoreAreaEnd

private

Definition at line 398 of file direcs.h.

int Direcs::laserscannerIgnoreAreaStart

private

Definition at line 397 of file direcs.h.

QString Direcs::laserscannerMounting

private

Definition at line 399 of file direcs.h.

bool Direcs::laserScannerRearFound

private

Definition at line 414 of file direcs.h.

QString Direcs::laserscannerTypeFront

private

Definition at line 393 of file direcs.h.

QString Direcs::laserscannerTypeRear

private

Definition at line 394 of file direcs.h.

LaserThread* Direcs::laserThread

private

Definition at line 382 of file direcs.h.

const unsigned char Direcs::LEDOFF = 0

staticprivate

The GUI LED colors. Also used for

See also:: drivingLight()

Definition at line 596 of file direcs.h.

const int Direcs::LEFT = 30

staticprivate

Motor direction (formerly "counterclockwise".

Definition at line 460 of file direcs.h.

Logfile* Direcs::logfile

private

Definition at line 387 of file direcs.h.

const short int Direcs::MAXFALSEALARMS = 2

staticprivate

Definition at line 520 of file direcs.h.

int Direcs::maximumSpeed

private

Definition at line 428 of file direcs.h.

const int Direcs::MAXPWM = 99

staticprivate

this is analog to the value in microcontroller software

See also:: direcsSTM

Definition at line 566 of file direcs.h.

bool Direcs::mecanumDriveMode

private

is enabled, when the robot is controlled via joystick

Definition at line 416 of file direcs.h.

Phonon::MediaObject* Direcs::mediaObject

private

A list of obstacle alarms that occured right the last n times.

Definition at line 445 of file direcs.h.

int Direcs::minimumSpeed

private

Definition at line 427 of file direcs.h.

const float Direcs::MINIMUMVOLTAGE1 = 10.80

staticprivate

The minimum voltages for an acoustic and optical alarm.

See also:: Gui::showVoltage

Definition at line 532 of file direcs.h.

const float Direcs::MINIMUMVOLTAGE2 = 21.60

staticprivate

Todo:: put min. voltage 1 in the ini-file

Definition at line 533 of file direcs.h.

const int Direcs::MINPWM = 1

staticprivate

Definition at line 565 of file direcs.h.

int Direcs::mot1Speed

private

Definition at line 423 of file direcs.h.

int Direcs::mot2Speed

private

Definition at line 424 of file direcs.h.

int Direcs::mot3Speed

private

Definition at line 425 of file direcs.h.

int Direcs::mot4Speed

private

Definition at line 426 of file direcs.h.

const int Direcs::MOTOR1 = 210

staticprivate

Motor direction/power "same like before".

Definition at line 473 of file direcs.h.

const int Direcs::MOTOR1BW = 310

staticprivate

Definition at line 480 of file direcs.h.

const int Direcs::MOTOR1FW = 300

staticprivate

used for letting the robot getting only one command for all motors (like 'forward all'). This is to reduce commands on the serial line.

Definition at line 479 of file direcs.h.

const int Direcs::MOTOR1OFF = 320

staticprivate

Definition at line 481 of file direcs.h.

const int Direcs::MOTOR2 = 220

staticprivate

Motor 1 front left.

Definition at line 474 of file direcs.h.

const int Direcs::MOTOR2BW = 340

staticprivate

Definition at line 483 of file direcs.h.

const int Direcs::MOTOR2FW = 330

staticprivate

Definition at line 482 of file direcs.h.

const int Direcs::MOTOR2OFF = 350

staticprivate

Definition at line 484 of file direcs.h.

const int Direcs::MOTOR3 = 230

staticprivate

Motor 2 front right.

Definition at line 475 of file direcs.h.

const int Direcs::MOTOR3BW = 370

staticprivate

Definition at line 486 of file direcs.h.

const int Direcs::MOTOR3FW = 360

staticprivate

Definition at line 485 of file direcs.h.

const int Direcs::MOTOR3OFF = 380

staticprivate

Definition at line 487 of file direcs.h.

const int Direcs::MOTOR4 = 240

staticprivate

Motor 3 back left.

Definition at line 476 of file direcs.h.

const int Direcs::MOTOR4BW = 400

staticprivate

Definition at line 489 of file direcs.h.

const int Direcs::MOTOR4FW = 390

staticprivate

Definition at line 488 of file direcs.h.

const int Direcs::MOTOR4OFF = 410

staticprivate

Definition at line 490 of file direcs.h.

Motor* Direcs::motors

private

Definition at line 376 of file direcs.h.

const short int Direcs::MOTORSENSOR1 = 0

staticprivate

number of false alarms which are allowed in the logical unit

The motor sensors

Definition at line 524 of file direcs.h.

const short int Direcs::MOTORSENSOR2 = 1

staticprivate

Definition at line 525 of file direcs.h.

QMutex* Direcs::mutex

mutableprivate

Definition at line 352 of file direcs.h.

NetworkThread* Direcs::netThread

private

Definition at line 381 of file direcs.h.

unsigned int Direcs::networkPortListen

private

Indicates that network data were received already and we do not check if we are master or slave.

Definition at line 409 of file direcs.h.

unsigned int Direcs::networkPortSend

private

Definition at line 410 of file direcs.h.

bool Direcs::noHardwareErrorMessages

Currently not in use...

Definition at line 134 of file direcs.h.

const short int Direcs::NONE = 0

staticprivate

Value, if no sensor has a value to react.

Definition at line 514 of file direcs.h.

const unsigned char Direcs::NUMBEROFRGBLEDS = 6

staticprivate

the RGB LED numbers

Definition at line 553 of file direcs.h.

const unsigned char Direcs::NUMBEROFSERVOS = 6

staticprivate

Todo:: put min. voltage 2 in the ini-file

The servos

Definition at line 536 of file direcs.h.

QList<QDateTime> Direcs::obstacleAlarmFrontLeftList

private

if true, we will use a small GUI for fitting on a small onboard TFT. By default this is decided by the local hostname of the system.

See also:: Gui::Gui()

Definition at line 441 of file direcs.h.

QList<QDateTime> Direcs::obstacleAlarmFrontRightList

private

A list of obstacle alarms that occured left the last n times.

Definition at line 442 of file direcs.h.

const short int Direcs::OBSTACLEFRONTLEFT = 512

staticprivate

Definition at line 516 of file direcs.h.

const short int Direcs::OBSTACLEFRONTRIGHT = 1024

staticprivate

Definition at line 517 of file direcs.h.

const short int Direcs::OBSTACLESEVERYWHEREINFRONT = 2048

staticprivate

Definition at line 518 of file direcs.h.

ObstacleCheckThread* Direcs::obstCheckThread

private

Definition at line 379 of file direcs.h.

const bool Direcs::OFF = false

staticprivate

For motor or robot "ON"

Definition at line 455 of file direcs.h.

const bool Direcs::ON = true

staticprivate

Definition at line 454 of file direcs.h.

PlotThread* Direcs::plotThread

private

The about dialog.

Definition at line 363 of file direcs.h.

int Direcs::preferredDrivingDirection

private

Definition at line 402 of file direcs.h.

const int Direcs::READ_AXIS_X = 500

staticprivate

Definition at line 492 of file direcs.h.

const int Direcs::READ_AXIS_Y = 510

staticprivate

Definition at line 493 of file direcs.h.

const int Direcs::READ_AXIS_Z = 520

staticprivate

Definition at line 494 of file direcs.h.

const unsigned char Direcs::RED = 1

staticprivate

Definition at line 597 of file direcs.h.

const unsigned char Direcs::RGBLED1 = 0

staticprivate

Todo:: also defined in rgbled.h !!!

Definition at line 554 of file direcs.h.

const unsigned char Direcs::RGBLED2 = 1

staticprivate

Definition at line 555 of file direcs.h.

const unsigned char Direcs::RGBLED3 = 2

staticprivate

Definition at line 556 of file direcs.h.

const unsigned char Direcs::RGBLED4 = 3

staticprivate

Definition at line 557 of file direcs.h.

const unsigned char Direcs::RGBLED5 = 4

staticprivate

Definition at line 558 of file direcs.h.

const unsigned char Direcs::RGBLED6 = 5

staticprivate

Definition at line 559 of file direcs.h.

const unsigned char Direcs::RGBLEDACTUAL = 1

staticprivate

Definition at line 562 of file direcs.h.

const unsigned char Direcs::RGBLEDDEFAULT = 0

staticprivate

the possible rgbLed data

Definition at line 561 of file direcs.h.

const unsigned char Direcs::RGBLEDMAX = 3

staticprivate

Definition at line 564 of file direcs.h.

const unsigned char Direcs::RGBLEDMIN = 2

staticprivate

Definition at line 563 of file direcs.h.

RgbLed* Direcs::rgbLeds

private

Definition at line 377 of file direcs.h.

const int Direcs::RIGHT = 40

staticprivate

Definition at line 461 of file direcs.h.

bool Direcs::robotDrives

private

See also:: logicalUnit

Definition at line 404 of file direcs.h.

bool Direcs::robotRemoteMode

private

Stores the robots simulation state.

Definition at line 406 of file direcs.h.

bool Direcs::robotSimulationMode

private

Stores the robots driving state. TRUE, when the robot drives.

Definition at line 405 of file direcs.h.

const int Direcs::SAME = 200

staticprivate

Definition at line 472 of file direcs.h.

const short int Direcs::SENSOR1 = 1

staticprivate

Give the sensors some names DONT CHANGE THIS NUMBERS! THEY ARE ALSO USED TO ADRESS THE ARRAY "iRSensorValue[]" !!

Definition at line 501 of file direcs.h.

const short int Direcs::SENSOR16 = 256

staticprivate

Definition at line 511 of file direcs.h.

const short int Direcs::SENSOR2 = 2

staticprivate

Definition at line 502 of file direcs.h.

const short int Direcs::SENSOR3 = 4

staticprivate

Definition at line 503 of file direcs.h.

const short int Direcs::SENSOR4 = 8

staticprivate

Definition at line 504 of file direcs.h.

const short int Direcs::SENSOR5 = 16

staticprivate

Definition at line 505 of file direcs.h.

const short int Direcs::SENSOR6 = 32

staticprivate

Definition at line 506 of file direcs.h.

const short int Direcs::SENSOR7 = 64

staticprivate

Definition at line 507 of file direcs.h.

const short int Direcs::SENSOR8 = 128

staticprivate

Definition at line 508 of file direcs.h.

SensorThread* Direcs::sensorThread

private

Todo:: Heartbeat *heartbeat;

Definition at line 375 of file direcs.h.

QString Direcs::serialPortLaserscannerFront

private

Definition at line 391 of file direcs.h.

QString Direcs::serialPortLaserscannerRear

private

Definition at line 392 of file direcs.h.

QString Direcs::serialPortMicrocontroller

private

Definition at line 390 of file direcs.h.

const unsigned char Direcs::SERVO1 = 0

staticprivate

the servo numbers

Todo:: also defined in servo.h !!!

Definition at line 538 of file direcs.h.

const unsigned char Direcs::SERVO2 = 1

staticprivate

Definition at line 539 of file direcs.h.

const unsigned char Direcs::SERVO3 = 2

staticprivate

Definition at line 540 of file direcs.h.

const unsigned char Direcs::SERVO4 = 3

staticprivate

Definition at line 541 of file direcs.h.

const unsigned char Direcs::SERVO5 = 4

staticprivate

Definition at line 542 of file direcs.h.

const unsigned char Direcs::SERVO6 = 5

staticprivate

Definition at line 543 of file direcs.h.

Servo* Direcs::servos

private

Definition at line 378 of file direcs.h.

bool Direcs::servoTestMode

private

Definition at line 418 of file direcs.h.

SettingsDialog* Direcs::settingsDialog

private

Definition at line 358 of file direcs.h.

bool Direcs::shutdownAlreadyCalled

private

is enabled if the argument 'large' was passed by command-line. This will result in a startup with the large GUI - regardless of the hostname.

Definition at line 438 of file direcs.h.

SpeakThread* Direcs::speakThread

private

Definition at line 384 of file direcs.h.

QSplashScreen* Direcs::splash

private

Definition at line 366 of file direcs.h.

QColor Direcs::splashTextColor

private

Definition at line 368 of file direcs.h.

const unsigned int Direcs::SPLASHTIME = 2000

staticprivate

The splash screen time of view in ms.

Definition at line 449 of file direcs.h.

const int Direcs::START = 70

staticprivate

Definition at line 464 of file direcs.h.

const int Direcs::STOP = 80

staticprivate

Definition at line 465 of file direcs.h.

const unsigned char Direcs::SVCURRENT = 3

staticprivate

Definition at line 548 of file direcs.h.

const unsigned char Direcs::SVDEFAULT = 2

staticprivate

Definition at line 547 of file direcs.h.

const unsigned char Direcs::SVEND = 1

staticprivate

Definition at line 546 of file direcs.h.

const unsigned char Direcs::SVMAX = 5

staticprivate

Definition at line 550 of file direcs.h.

const unsigned char Direcs::SVMIN = 4

staticprivate

Definition at line 549 of file direcs.h.

const unsigned char Direcs::SVSTART = 0

staticprivate

the possible servo data

Definition at line 545 of file direcs.h.

bool Direcs::testDriveMode

private

Definition at line 415 of file direcs.h.

TimerThread* Direcs::timerThread

private

Definition at line 388 of file direcs.h.

const int Direcs::TURNLEFT = 50

staticprivate

Definition at line 462 of file direcs.h.

const int Direcs::TURNRIGHT = 60

staticprivate

Definition at line 463 of file direcs.h.

bool Direcs::useCamera

private

if true, a logfile is written of all pgm messages (see ini-file)

Definition at line 412 of file direcs.h.

bool Direcs::useSmallGUI

private

this is set to true, when no ini-file was found at startup. This make the program leave without the stupid AreYouSure-Question.

Definition at line 440 of file direcs.h.

unsigned int Direcs::value

private

Definition at line 433 of file direcs.h.

const short int Direcs::VOLTAGESENSOR1 = 0

staticprivate

The voltage sensors.

Definition at line 528 of file direcs.h.

const short int Direcs::VOLTAGESENSOR2 = 1

staticprivate

Definition at line 529 of file direcs.h.

const int Direcs::WAIT = 90

staticprivate

Definition at line 466 of file direcs.h.

const unsigned char Direcs::WHITE = 4

staticprivate

Definition at line 600 of file direcs.h.

bool Direcs::writeLogFile

private

Definition at line 411 of file direcs.h.

The documentation for this class was generated from the following files:

direcs/src/direcs.h
direcs/src/direcs.cpp

Public Slots

Signals

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

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